Automatic assembly robot for heating assembly of coffee machine

Abstract

The invention belongs to the field of automatic assembly robots, and particularly relates to a coffee machine heating assembly automatic assembly robot which comprises a first conveying belt and a second conveying belt, a first mechanical arm is arranged at the end of the first conveying belt, and an electric sliding rail used for driving the first mechanical arm to move is installed at the bottom of the first mechanical arm. An adsorption head is installed at the end of the first mechanical arm, two second mechanical arms arranged in parallel are arranged on one side of the electric sliding rail, a third mechanical arm is arranged on the other side of the electric sliding rail, and first electric telescopic rods are fixedly connected to the ends of the third mechanical arm and the second mechanical arms correspondingly; and a grabbing disc and a mechanical claw which are used for grabbing electric heating tank parts are mounted at the end part of the electric telescopic rod I. Through the arrangement, the function of fully automatically assembling the heating assembly of the coffee machine is realized, the whole process is mechanically controlled, all processes of transporting, grabbing, aligning and assembling the parts are completed, and the assembly efficiency of the heating assembly is effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of automatic assembly robots, in particular to an automatic assembly robot for heating components of a coffee machine. Background Art

[0002] A coffee machine is a device used to make coffee. The traditional way of using it is to pour water into the water tank, then put the coffee powder into the filter, and finally start the machine and wait for the coffee to drip into the coffee pot.

[0003] The heating component in the coffee machine is generally combined with the water tank and is located inside the water tank. The water in the water tank is heated by electric heating. In order to realize the mass production of coffee machines, a dedicated production line is required to assemble the heating component.

[0004] Traditional coffee machine heating components are generally composed of multiple parts. Since most of the parts are irregular in shape, and it is also necessary to ensure that the electric heating components are stably wrapped inside during the docking process, the entire assembly process is relatively complicated and generally requires manual assistance, resulting in slow assembly efficiency.

[0005] To this end, the present invention provides a coffee machine heating component automatic assembly robot. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: the coffee machine heating component automatic assembly robot described in the present invention comprises a conveyor belt 1 and a conveyor belt 2, a mechanical arm 1 is arranged at the end of the conveyor belt 1, an electric slide rail for driving the mechanical arm 1 to move is installed at the bottom of the mechanical arm 1, an adsorption head is installed at the end of the mechanical arm 1, two mechanical arms 2 arranged in parallel are arranged on one side of the electric slide rail, and a mechanical arm 3 is arranged on the other side of the electric slide rail, the ends of the mechanical arm 3 and the mechanical arm 2 are both fixedly connected with an electric telescopic rod 1, and the end of the electric telescopic rod 1 is installed with a grabbing plate and a mechanical claw for grabbing electric heating pot parts;

[0008] Through the arrangement of two robot arms two, one robot arm three and robot arm one, the parts of the electric pot are conveyed to the end one by one through conveyor belt one and conveyor belt two, the parts are grasped by robot arm one and lifted up, and then robot arm one is moved between two robot arms two and one robot arm three through electric slide rails, the two robot arms two fix half cylinder one and half cylinder two through grabbing plates, and robot arm three grasps the heating station through mechanical claws; the heating station and the electric heating module are arranged in an integrated form, and the electric heating module can be a spiral heating wire; when the three parts are fixed in place, the heating station is first maintained in a vertical state by mechanical claws, and the half cylinder one and half cylinder two are gradually closed to the middle, so as to cover the electric heating module inside, and the heating station is located on the outside at the same time, finally forming the finished electric pot; through this arrangement, the function of fully automatic assembly of heating components of the coffee machine is realized, the overall process is mechanized and controlled, and all processes of transportation, grasping, alignment and assembly of parts are completed, effectively improving the assembly efficiency of heating components.

[0009] Preferably, the conveyor belt one is used to transport half cylinder one and half cylinder two, and the conveyor belt two is used to transport the electric heating module and the communication station. The conveyor belt of the conveyor belt two is concavely arranged, and a rotatable negative pressure suction cup is arranged in the middle of the top surface of the conveyor belt one. During the transportation of the half cylinder one and the half cylinder two, the two may face the convex surface upward or the concave surface upward. When the concave surface faces upward, the robot arm one first grabs the half cylinder one or the half cylinder two from the concave surface, so that the convex surface of the half cylinder one and the half cylinder two can be fixed to the grabbing disk, and then the concave surfaces of the half cylinder one and the half cylinder two can be connected to each other under the drive of the robot arm two, so as to effectively cover the electric heating module inside; but when the convex surface faces upward, this cannot be done, so it is necessary to use the conveyor belt one to transport the parts. Turn all the half cylinders one and two over so that the concave side faces upward. The specific method is to always start the negative pressure suction cup to generate suction downward. When the concave side of the part faces upward, the contact area between the part and the negative pressure suction cup is small, so the negative pressure suction cup cannot hold the part, allowing the part with the concave side facing upward to pass smoothly. When the convex side of the part faces upward, the contact area with the negative pressure suction cup is sufficient to hold the part. Then the negative pressure suction cup drives the part to rotate, and after rotating for most of a circle, release the suction to let the part fall onto conveyor belt one, so that the concave side of the part faces upward, thereby realizing the function of transporting half cylinder one and half cylinder two forward with the concave side facing upward, ensuring the smooth progress of the subsequent assembly process; the concave conveyor belt two gathers the electric heating modules in the middle to ensure the stable transmission of parts.

[0010] Preferably, the grabbing plate 2 is installed on one end of the electric telescopic rod of the mechanical arm 2, and the mechanical claw is installed on one end of the electric telescopic rod of the mechanical arm 3. The grabbing plate 2 includes a fitting plate capable of generating negative pressure. The fitting plate is arranged in an arc shape, and pressing arms that can be raised and lowered are installed at the upper and lower ends of the fitting plate. The mechanical claw has four movable claws. The shape of the fitting plate is the same as the appearance of the electric heating pot. The fitting plate can generate negative pressure to fix the half cylinder one or the half cylinder two. After fixing, the two pressing arms are closed to the middle, so that the half cylinder one or the half cylinder two is firmly fixed. After fixing, the half cylinder one or the half cylinder two can be maintained in the middle position of the fitting plate, and then the two can be assembled with each other; the mechanical claw is used to grab the communication station and maintain the electric heating module between the half cylinder one or the half cylinder two, thereby completing the assembly and closing process.

[0011] Preferably, four electric screwdrivers are arranged on the outer side of the electric telescopic rod 1 of one of the mechanical arms 2, the electric telescopic rod 2 is fixedly connected to the outer side of the electric screwdriver, the end of the electric telescopic rod 2 is fixedly connected to the filling table, a transmission tube for supplying screws to the filling table is installed on the outer side of the filling table, the electric screwdriver and the outer side of the electric telescopic rod 1 are fixedly connected with an extension frame, when the half cylinder 1 or the half cylinder 2 is closed together, the electric telescopic rod 2 is extended, the filling table is pressed against the surface of the half cylinder 2 and fits with the four screw connections, the screws are transported to the filling table through the transmission tube, and then the electric telescopic rod 2 is shortened and pulled, and the electric telescopic rod 1 is shortened synchronously, so that the electric screwdriver fixes the screws between the half cylinder 1 and the half cylinder 2. Through this arrangement, the firm assembly process of the electric heating pot is realized.

[0012] Preferably, the negative pressure pump is fixed between the bonding disk and the electric telescopic rod one, the negative pressure end of the negative pressure pump is connected to the inner concave surface of the bonding disk, and the inner concave surface of the bonding disk is equipped with multiple driving wheels. The negative pressure pump generates negative pressure for the bonding disk, so that the half cylinder one or the half cylinder two is adsorbed and fixed, and the half cylinder one or the half cylinder two is fixed in the center through two pressing arms. At the same time, the driving wheel is started to drive the half cylinder one or the half cylinder two to rotate, ensuring that the half cylinder one or the half cylinder two is rotated to the center position. In this way, when the half cylinder one and the half cylinder two are docked, they can be guaranteed to fit tightly, thereby improving the quality of assembly.

[0013] Preferably, the adsorption head is arranged in an inverted cone shape, and a camera and a vacuum pump are installed in the middle of the bottom end of the adsorption head. The upper and lower ends of the half-cylinder one are fixedly connected with drain valves. The outer side of the adsorption head is rotatably connected to two deployable expansion arms. The adsorption head observes the half-cylinder one, the half-cylinder two and the electric heating module from top to bottom through the camera, so that the angle of its own end can be adjusted, and then the half-cylinder one or the half-cylinder two is adsorbed and fixed using the vacuum pump, and then the end is rotated to adjust the half-cylinder one or the half-cylinder two to a vertical state, so as to facilitate the docking process with the bonding disk, the adsorption head of the inverted cone can be inserted into the gap of the electric heating module, and then the expansion arm is opened to fix the electric heating module, so that the mechanical claw can grab the communication station at the end; the screw holes of the electric heating pot are opened on the half-cylinder two, and the drain valves are all located on the half-cylinder one, so that the two can be clearly distinguished, ensuring that the half-cylinder two can be fixed on the bonding disk of the electric screwdriver.

[0014] Preferably, the end of the pressing arm is bent, and the ends of the conveyor belt one and the conveyor belt two are provided with baffles for blocking the electric hot pot parts. The bent setting of the pressing arm can effectively press the upper and lower ends of the half cylinder one or the half cylinder two to effectively separate the parts. The setting of the baffle can temporarily block the parts to prevent them from falling off the conveyor belt one and the conveyor belt two.

[0015] Preferably, a support frame is fixedly connected to the upper middle part of the conveyor belt 1, and two drive motors are fixedly connected to the middle part of the support frame. The negative pressure suction cup is fixedly connected to the output end of the drive motor, and the negative pressure end of the negative pressure suction cup is vertically downward. The support frame supports the drive motor and the negative pressure suction cup above the conveyor belt 1. When the negative pressure suction cup sucks the half-cylinder 1 or half-cylinder 2 with the convex surface facing upward, the drive motor starts to drive the negative pressure suction cup and the parts to rotate. After rotating more than half a circle, the negative pressure suction cup is closed to allow the parts to detach, thereby completing the effect of flipping the parts.

[0016] Preferably, a slide is fixedly connected to the upper middle part of the conveyor belt, the top surface of the slide is inclined, and the top surface of the slide is rotatably connected to a turn plate close to the bottom. The direction in which the negative pressure suction cup drives the parts to flip is clockwise. As the negative pressure suction cup rotates, the parts are transferred to the top of the slide. At this time, the parts are in a concave surface facing upward state, and then the parts will slide along the top of the slide. Compared with the direct drop of parts, this method allows the parts to keep the concave surface facing upward as much as possible, and the turn plate can rotate upward to allow the parts below to pass smoothly.

[0017] Preferably, a push rod is fixedly connected to the middle part of the support frame, and the push rod is arranged in an arc shape. The push rod faces the end away from the slide. The setting of the push rod is used to separate the parts transported on the conveyor belt to both sides and guide the parts to approach the negative pressure suction cup so that the two negative pressure suction cups can adsorb the parts.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The automatic assembly robot of the heating component of a coffee machine described in the present invention, through the arrangement of two mechanical arms 2, one mechanical arm 3 and a mechanical arm 1, the parts of the electric heating pot are conveyed to the end one by one through the conveyor belt 1 and the conveyor belt 2, the mechanical arm 1 is used to grab the parts and lift the parts upward, and then the mechanical arm 1 is moved between the two mechanical arms 2 and the one mechanical arm 3 through the electric slide rail, the two mechanical arms 2 fix the half cylinder 1 and the half cylinder 2 through the grabbing plate, and the mechanical arm 3 grabs the electric heating station through the mechanical claw; the electric heating station and the electric heating module are arranged in an integrated shape, and the electric heating module can be a spiral electric heating wire; when the three parts are fixed in place, the electric heating station is first maintained in a vertical state by the mechanical claw, and the half cylinder 1 and the half cylinder 2 are gradually closed to the middle, so that the electric heating module is covered inside, and the electric heating station is located on the outside, and finally the electric heating pot is formed; through this arrangement, the function of fully automatic assembly of the heating component of the coffee machine is realized, the overall process is mechanized and controlled, and all processes of transportation, grabbing, alignment and assembly of parts are completed, which effectively improves the assembly efficiency of the heating component.

[0020] 2. The coffee machine heating component automatic assembly robot described in the present invention, during the transportation of the half-barrel one and the half-barrel two, both may face the convex surface upward or the concave surface upward. When the concave surface faces upward, the robot arm one first grabs the half-barrel one or the half-barrel two from the concave surface, so that the convex surface of the half-barrel one and the half-barrel two can be fixed to the grabbing plate, and then the concave surfaces of the half-barrel one and the half-barrel two can be connected to each other under the drive of the robot arm two, so that the electric heating module is effectively covered inside; however, this cannot be done when the convex surface faces upward, so it is necessary to turn all the half-barrels one and two into the same shape during the transportation of the parts by the conveyor belt one. To make the concave side face up, the specific method is to always start the negative pressure suction cup to generate suction downwards. When the concave side of the part faces up, the contact area between the part and the negative pressure suction cup is small, so the negative pressure suction cup cannot hold the part, allowing the part with the concave side facing up to pass smoothly. When the convex side of the part faces up, the contact area with the negative pressure suction cup is sufficient to hold the part. Then the negative pressure suction cup drives the part to rotate, and after rotating for most of a circle, the suction is released to let the part fall onto conveyor belt one, so that the concave side of the part faces up, thereby realizing the function of allowing half-cylinder one and half-cylinder two to be transported forward with the concave side facing up, thereby ensuring the smooth progress of the subsequent assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 is a stereogram of the present invention;

[0023] Figure 2 is a three-dimensional diagram of the electric slide rail of the present invention;

[0024] Figure 3 is a three-dimensional diagram of the electric telescopic rod of the present invention;

[0025] Figure 4 is a three-dimensional diagram of the bonding tray of the present invention;

[0026] Figure 5 It is a schematic diagram of the expansion of the electric heating pot of the present invention;

[0027] Figure 6 is a three-dimensional diagram of the slide of the present invention;

[0028] In the figure: 1. Conveyor belt 1; 2. Conveyor belt 2; 3. Electric slide rail; 4. Robot arm 1; 5. Robot arm 2; 6. Electric heating pot; 7. Robot arm 3; 8. Electric telescopic rod 1; 9. Adsorption head; 10. Mechanical claw; 12. Grabbing plate; 13. Electric screwdriver; 14. Electric telescopic rod 2; 15. Transmission tube; 16. Filling table; 17. Laminating plate; 18. Driving wheel; 19. Pressing arm; 20. Negative pressure pump; 21. Half cylinder 1; 22. Half cylinder 2; 23. Electric heating module; 24. Communication station; 25. Slide; 26. Turntable; 27. Negative pressure suction cup; 28. Push rod; 29. ​​Support frame. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0030] like Figures 1 to 6 As shown, an automatic assembly robot for heating components of a coffee machine according to an embodiment of the present invention comprises a conveyor belt 1 and a conveyor belt 2, a mechanical arm 4 is arranged at the end of the conveyor belt 1, an electric slide rail 3 for driving the mechanical arm 4 to move is installed at the bottom of the mechanical arm 4, an adsorption head 9 is installed at the end of the mechanical arm 4, two mechanical arms 2 5 arranged in parallel are arranged on one side of the electric slide rail 3, a mechanical arm 3 7 is arranged on the other side of the electric slide rail 3, and the ends of the mechanical arm 3 7 and the mechanical arm 2 5 are fixedly connected with an electric telescopic rod 8, the electric telescopic rod 8 is installed at the end of the mechanical arm 4, and the electric telescopic rod 8 is installed at the end of the mechanical arm 4. The end of the retracted rod 8 is provided with a grabbing plate 12 and a mechanical claw 10 for grabbing the parts of the electric heating pot 6. When working, the heating components of a conventional coffee machine generally consist of a half-cylinder 1 21 and a half-cylinder 2 22, an electric heating module 23 wrapped inside, and a communication station 24 for controlling the electric heating module 23. Since most of the parts are irregular in shape, and it is also necessary to ensure that the electric heating module 23 is wrapped inside the half-cylinder 1 21 and the half-cylinder 2 22 during the connection process, while the communication station 24 is placed outside; the entire assembly process is relatively complicated, and generally requires manual operation to assist, resulting in a relatively slow assembly efficiency;

[0031] Through the arrangement of two robot arms 2 5, one robot arm 3 7 and robot arm 1 4, the parts of the electric heating pot 6 are conveyed to the end one by one through the conveyor belt 1 and the conveyor belt 2 2, and the parts are grasped by the robot arm 1 4 and lifted upward, and then the robot arm 1 4 is moved between the two robot arms 2 5 and one robot arm 3 7 through the electric slide rail 3, the two robot arms 2 5 fix the half cylinder 1 21 and the half cylinder 2 22 through the grabbing plate 12, and the robot arm 3 7 grasps the communication station 24 through the mechanical claw 10; the communication station 24 and the electric heating module 23 are integrated. The electric heating module 23 can be a spiral heating wire; when the three parts are fixed in place, the communication station 24 is first maintained in a vertical state by the mechanical claw 10, and the half cylinder 1 21 and the half cylinder 22 are gradually closed to the middle, so as to cover the electric heating module 23 inside, and at the same time let the communication station 24 be located on the outside, finally forming the finished product of the electric heating pot 6; through this arrangement, the function of fully automatic assembly of the heating component of the coffee machine is realized, the overall process is mechanized and controlled, and all processes of transportation, grasping, alignment and assembly of parts are completed, effectively improving the assembly efficiency of the heating component.

[0032] The conveyor belt 1 is used to transport the half cylinder 1 21 and the half cylinder 2 2, and the conveyor belt 2 2 is used to transport the electric heating module 23 and the communication station 24. The conveyor belt of the conveyor belt 2 2 is concavely arranged, and a rotatable negative pressure suction cup 27 is arranged in the middle of the top surface of the conveyor belt 1;

[0033] During operation, during the transportation of half cylinder 1 21 and half cylinder 22, the two may face the convex surface upward or the concave surface upward. When the concave surface faces upward, the robot arm 1 4 first grabs half cylinder 1 21 or half cylinder 22 from the concave surface, so that the convex surface of half cylinder 1 21 and half cylinder 22 can be fixed to the grabbing plate 12, and then the concave surfaces of half cylinder 1 21 and half cylinder 22 can be connected to each other under the drive of robot arm 2 5, so that the electric heating module 23 is effectively covered inside; in the case of the convex surface facing upward, this cannot be done, so it is necessary to turn all half cylinders 1 21 and half cylinder 22 over so that the concave surface faces upward during the transportation of parts by conveyor belt 1. The specific method is to always start the negative pressure suction cup. 27 generates suction downward. When the concave surface of the part faces upward, the contact area between the part and the negative pressure suction cup 27 is small, so the negative pressure suction cup 27 cannot hold the part, allowing the part with the concave surface facing upward to pass smoothly. When the convex surface of the part faces upward, the contact area with the negative pressure suction cup 27 is sufficient to hold the part. Then the negative pressure suction cup 27 drives the part to rotate, and after rotating for more than half a circle, the suction is released to let the part fall onto the conveyor belt 1, so that the concave surface of the part faces upward, thereby realizing the function of transporting the half cylinder 1 21 and the half cylinder 2 22 forward with the concave surface facing upward, ensuring the smooth progress of the subsequent assembly process; the concave conveyor belt 2 2 gathers the electric heating module 23 in the middle to ensure the stable transmission of the parts.

[0034] The grabbing plate 2 12 is mounted on the end of the electric telescopic rod 1 8 of the mechanical arm 2 5, and the mechanical claw 10 is mounted on the end of the electric telescopic rod 1 8 of the mechanical arm 3 7. The grabbing plate 2 12 includes a bonding plate 17 capable of generating negative pressure, and the bonding plate 17 is arranged in an arc shape. The upper and lower ends of the bonding plate 17 are both equipped with pressing arms 19 that can be raised and lowered. The mechanical claw 10 has four movable claws;

[0035] During operation, the shape of the bonding plate 17 is the same as the appearance of the electric heating pot 6. The bonding plate 17 can generate negative pressure to fix the half cylinder 1 21 or the half cylinder 22. After fixation, the two pressing arms 19 are closed toward the middle, so that the half cylinder 1 21 or the half cylinder 22 is firmly fixed. After fixation, the half cylinder 1 21 or the half cylinder 22 can be maintained in the middle position of the bonding plate 17, and then the two can be assembled with each other; the mechanical claw 10 is used to grasp the communication station 24, maintain the electric heating module 23 between the half cylinder 1 21 or the half cylinder 22, and then complete the assembly process.

[0036] Four electric screwdrivers 13 are arranged on the outer side of the electric telescopic rod 18 of one of the mechanical arms 2 5, and the outer side of the electric screwdriver 13 is fixedly connected to the electric telescopic rod 2 14, and the end of the electric telescopic rod 2 14 is fixedly connected to a filling table 16, and a transmission tube 15 for supplying screws to the filling table 16 is installed on the outer side of the filling table 16, and the electric screwdriver 13 and the outer side of the electric telescopic rod 1 8 are fixedly connected to an extension frame;

[0037] During operation, when the half-cylinder 1 21 or the half-cylinder 22 is closed together, the electric telescopic rod 2 14 is extended, the filling platform 16 is pressed against the surface of the half-cylinder 2 22, and fits with the four screw connections, and the screws are transported to the filling platform 16 through the transmission tube 15. Then the electric telescopic rod 2 14 is shortened and pulled, and the electric telescopic rod 1 8 is shortened synchronously, allowing the electric screwdriver 13 to fix the screws between the half-cylinder 1 21 and the half-cylinder 2 22. Through this arrangement, the firm assembly process of the electric heating pot 6 is achieved.

[0038] The negative pressure pump 20 is fixedly connected between the laminating plate 17 and the electric telescopic rod 8, and the negative pressure end of the negative pressure pump 20 is connected to the inner concave surface of the laminating plate 17, and the inner concave surface of the laminating plate 17 is equipped with a plurality of driving wheels 18;

[0039] During operation, negative pressure is generated on the bonding disk 17 through the negative pressure pump 20, so that the half cylinder 1 21 or the half cylinder 22 is adsorbed and fixed, and the half cylinder 1 21 or the half cylinder 22 is fixed in the center through the two pressing arms 19, and the driving wheel 18 is started to drive the half cylinder 1 21 or the half cylinder 22 to rotate, ensuring that the half cylinder 1 21 or the half cylinder 22 is rotated to the center position, so that when the half cylinder 1 21 and the half cylinder 22 are docked, it can be guaranteed to be tightly fitted, thereby improving the quality of assembly. At the same time, after the half cylinder 1 21 and the half cylinder 22 are screwed together, the electric telescopic rod 1 8 is first driven by the electric screwdriver 13 to move away from the electric heating pot 6, and then the driving wheel 18 in the other bonding disk 17 controls the electric heating pot 6 to rotate, so that the communication station 24 is aligned with the electric screwdriver 13, and the electric screwdriver 13 is used to screw the communication station 24 to the electric heating pot 6, thereby completing a stable and firm assembly process.

[0040] The adsorption head 9 is arranged in an inverted truncated cone shape, a camera and a vacuum pump are installed in the middle of the bottom end of the adsorption head 9, the upper and lower ends of the half cylinder 21 are fixedly connected with a drainage valve, and the outer side of the adsorption head 9 is rotatably connected with two expandable expansion arms;

[0041] During operation, the adsorption head 9 observes the half cylinder 1 21, the half cylinder 22 and the electric heating module 23 from top to bottom through the camera, so that the angle of its own end can be adjusted, and then the half cylinder 1 21 or the half cylinder 22 is adsorbed and fixed using a vacuum pump, and then the end is rotated to adjust the half cylinder 1 21 or the half cylinder 22 to a vertical state, which is convenient for the docking process with the bonding disk 17. The adsorption head 9 of the inverted table can be inserted into the gap of the electric heating module 23, and then the arm is opened to fix the electric heating module 23, so that the mechanical claw 10 can grasp the communication station 24 at the end; the screw holes of the electric heating pot 6 are opened on the half cylinder 22, and the drain valves are all located on the half cylinder 1 21, so that the two can be clearly distinguished, ensuring that the half cylinder 22 can be fixed on the bonding disk 17 of the electric screwdriver 13.

[0042] The end of the pressing arm 19 is bent, and the ends of the conveyor belt 1 and the conveyor belt 2 are provided with baffles for blocking the parts of the electric heating pot 6;

[0043] During operation, the bending setting of the pressing arm 19 can effectively press the upper and lower ends of the half cylinder 1 21 or the half cylinder 2 22, effectively centering the parts, and the setting of the baffle can temporarily block the parts to prevent them from falling off the conveyor belt 1 1 and the conveyor belt 2 2.

[0044] A support frame 29 is fixedly connected to the middle of the conveyor belt 1, and two driving motors are fixedly connected to the middle of the support frame 29. The negative pressure suction cup 27 is fixedly connected to the output end of the driving motor, and the negative pressure end of the negative pressure suction cup 27 is vertically downward;

[0045] During operation, the support frame 29 supports the driving motor and the negative pressure suction cup 27 above the conveyor belt 1. When the negative pressure suction cup 27 sucks the half cylinder 1 21 or the half cylinder 2 22 with the convex surface facing upward, the driving motor starts to drive the negative pressure suction cup 27 and the parts to rotate. After rotating more than half a circle, the negative pressure suction cup 27 is closed to allow the parts to detach, thereby completing the effect of turning the parts over.

[0046] A slide 25 is fixedly connected to the upper middle part of the conveyor belt 1, the top surface of the slide 25 is inclined, and the top surface of the slide 25 is rotatably connected to a rotating plate 26 near the bottom;

[0047] During operation, the direction in which the negative pressure suction cup 27 drives the parts to flip is clockwise. As the negative pressure suction cup 27 rotates, the parts are transferred to the top of the slide 25. At this time, the parts are in a concave surface facing upward. Then the parts will slide along the top of the slide 25. Compared with the direct drop of the parts, this method allows the parts to keep the concave surface facing upward as much as possible. The rotating plate 26 can rotate upward to allow the parts below to pass smoothly.

[0048] A push rod 28 is fixedly connected to the middle of the support frame 29. The push rod 28 is arranged in an arc shape and faces the end away from the slide 25.

[0049] During operation, the push rod 28 is arranged to separate the parts transported on the conveyor belt 1 to both sides, and guide the parts to approach the negative pressure suction cups 27 so that the two negative pressure suction cups 27 can adsorb the parts.

[0050] During operation, through the arrangement of two robot arms 2 5, one robot arm 3 7 and one robot arm 1 4, the parts of the electric heating pot 6 are conveyed to the end one by one through the conveyor belt 1 and the conveyor belt 2 2, and the parts are grasped by the robot arm 1 4 and lifted upward, and then the robot arm 1 4 is moved between the two robot arms 2 5 and one robot arm 3 7 through the electric slide rail 3, the two robot arms 2 5 fix the half cylinder 1 21 and the half cylinder 2 22 through the grabbing plate 12, and the robot arm 3 7 grasps the communication station 24 through the mechanical claw 10; the communication station 24 and the electric heating module 23 are integrated. The electric heating module 23 can be a spiral heating wire; when the three parts are fixed in place, the mechanical claw 10 is used to maintain the communication station 24 in a vertical state, and the half cylinder 1 21 and the half cylinder 22 are gradually closed to the middle, so that the electric heating module 23 is covered inside, and the communication station 24 is located outside, and finally the electric heating pot 6 is formed; through this arrangement, the function of fully automatic assembly of the heating component of the coffee machine is realized, the overall process is mechanized and controlled, and all processes of transportation, grasping, alignment and assembly of parts are completed, which effectively improves the assembly efficiency of the heating component;

[0051] During the transportation of the half cylinder 1 21 and the half cylinder 2 22, the convex surface of the two may face upward, or the concave surface may face upward. When the concave surface faces upward, the robot arm 1 4 first grabs the half cylinder 1 21 or the half cylinder 2 22 from the concave surface, so that the convex surface of the half cylinder 1 21 and the half cylinder 2 22 can be fixed to the grabbing plate 12, and then the concave surfaces of the half cylinder 1 21 and the half cylinder 2 22 can be connected to each other under the drive of the robot arm 2 5, so that the electric heating module 23 is effectively covered inside; in the case of the convex surface facing upward, this cannot be done, so it is necessary to turn all the half cylinders 1 21 and the half cylinder 2 22 over so that the concave surface faces upward during the transportation of the parts by the conveyor belt 1. The specific method is to always start the negative pressure suction cup 27 Suction is generated downwards. When the concave surface of the part faces upwards, the contact area between the part and the negative pressure suction cup 27 is small, so the negative pressure suction cup 27 cannot hold the part, allowing the part with the concave surface facing upwards to pass smoothly. When the convex surface of the part faces upwards, the contact area with the negative pressure suction cup 27 is sufficient to hold the part. Then the negative pressure suction cup 27 drives the part to rotate, and after rotating for more than half a circle, the suction is released to let the part fall onto the conveyor belt 1, so that the concave surface of the part faces upwards, thereby realizing the function of transporting the half cylinder 1 21 and the half cylinder 2 22 forward with the concave surface facing upwards, ensuring the smooth progress of the subsequent assembly process; the concave conveyor belt 2 2 gathers the electric heating module 23 in the middle to ensure the stable transmission of the parts;

[0052] The shape of the bonding plate 17 is the same as that of the electric heating pot 6. The bonding plate 17 can generate negative pressure to fix the half cylinder 1 21 or the half cylinder 22. After fixing, the two pressing arms 19 are closed toward the middle, so that the half cylinder 1 21 or the half cylinder 22 is firmly fixed. After fixing, the half cylinder 1 21 or the half cylinder 22 can be maintained in the middle position of the bonding plate 17, and then the two can be assembled with each other; the mechanical claw 10 is used to grasp the communication station 24, and maintain the electric heating module 23 between the half cylinder 1 21 or the half cylinder 22, thereby completing the assembly and closing process;

[0053] When the half cylinder 1 21 or the half cylinder 22 is closed together, the electric telescopic rod 2 14 is extended, the filling platform 16 is pressed against the surface of the half cylinder 2 22, and fits with the four screw connections, and the screws are transported to the filling platform 16 through the transmission tube 15, and then the electric telescopic rod 2 14 is shortened and pulled, and the electric telescopic rod 1 8 is shortened synchronously, so that the electric screwdriver 13 fixes the screws between the half cylinder 1 21 and the half cylinder 2 22. Through this arrangement, the firm assembly process of the electric heating pot 6 is realized;

[0054] The negative pressure pump 20 generates negative pressure on the fitting disk 17, so that the half cylinder 1 21 or the half cylinder 22 is adsorbed and fixed, and the half cylinder 1 21 or the half cylinder 22 is fixed in the center by two pressing arms 19, and the driving wheel 18 is started to drive the half cylinder 1 21 or the half cylinder 22 to rotate, ensuring that the half cylinder 1 21 or the half cylinder 22 is rotated to the center position, so that when the half cylinder 1 21 and the half cylinder 2 22 are docked, they can be guaranteed to fit tightly, thereby improving the quality of assembly. At the same time, after the half cylinder 1 21 and the half cylinder 22 are screwed together, the electric telescopic rod 1 8 is first driven by the electric screwdriver 13 to move away from the electric heating pot 6, and then the driving wheel 18 in the other fitting disk 17 controls the electric heating pot 6 to rotate, so that the communication station 24 is aligned with the electric screwdriver 13, and the communication station 24 is screwed to the electric heating pot 6 using the electric screwdriver 13, thereby completing a stable and firm assembly process;

[0055] The adsorption head 9 observes the half cylinder 1 21, the half cylinder 22 and the electric heating module 23 from top to bottom through the camera, so that the angle of its own end can be adjusted, and then the half cylinder 1 21 or the half cylinder 22 is adsorbed and fixed by using a vacuum pump, and then the end is rotated to adjust the half cylinder 1 21 or the half cylinder 22 to a vertical state, which is convenient for the docking process with the bonding plate 17. The adsorption head 9 of the inverted round table can be inserted into the gap of the electric heating module 23, and then the arm is opened to fix the electric heating module 23, so that the mechanical claw 10 can grasp the communication station 24 at the end; the screw holes of the electric heating pot 6 are opened on the half cylinder 22, and the drain valves are all located on the half cylinder 1 21, so that the two can be clearly distinguished, ensuring that the half cylinder 22 can be fixed on the bonding plate 17 of the electric screwdriver 13;

[0056] The bending setting of the pressing arm 19 can effectively press the upper and lower ends of the half cylinder 1 21 or the half cylinder 2 22, effectively blocking the parts, and the setting of the baffle can temporarily block the parts to prevent the parts from falling off the conveyor belt 1 1 and the conveyor belt 2 2;

[0057] The support frame 29 supports the driving motor and the negative pressure suction cup 27 above the conveyor belt 1. When the negative pressure suction cup 27 sucks the half cylinder 1 21 or the half cylinder 2 22 with the convex surface facing upward, the driving motor starts to drive the negative pressure suction cup 27 and the parts to rotate. After rotating more than half a circle, the negative pressure suction cup 27 is closed to allow the parts to be separated, thereby completing the turning effect of the parts.

[0058] The direction in which the negative pressure suction cup 27 drives the part to flip is clockwise. As the negative pressure suction cup 27 rotates, the part is transferred to the top of the slide 25. At this time, the part is in a state of the concave surface facing upward. Then the part will slide along the top of the slide 25. Compared with the direct drop of the part, this method allows the part to keep the concave surface facing upward as much as possible. The rotating plate 26 can rotate upward to allow the parts below to pass smoothly.

[0059] The push rod 28 is provided to separate the parts transported on the conveyor belt 1 to both sides, and guide the parts to approach the negative pressure suction cups 27 so that the two negative pressure suction cups 27 can adsorb the parts.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A coffee machine heating component automatic assembly robot, characterized in that: It comprises a conveyor belt 1 and a conveyor belt 2, a robot arm 1 is arranged at the end of the conveyor belt 1, an electric slide rail for driving the robot arm 1 to move is installed at the bottom of the robot arm 1, an adsorption head is installed at the end of the robot arm 1, two robot arms 2 arranged in parallel are arranged on one side of the electric slide rail, a robot arm 3 is arranged on the other side of the electric slide rail, the ends of the robot arm 3 and the robot arm 2 are fixedly connected with an electric telescopic rod 1, and a grabbing plate and a robot claw for grabbing electric heating pot parts are installed at the end of the electric telescopic rod 1.

2. The automatic assembly robot for heating components of a coffee machine according to claim 1, characterized in that: The conveyor belt one is used to transport half cylinder one and half cylinder two, the conveyor belt two is used to transport the electric heating module and the communication station, the conveyor belt of the conveyor belt two is concavely arranged, and a rotatable negative pressure suction cup is arranged in the middle of the top surface of the conveyor belt one.

3. The automatic assembly robot for heating components of a coffee machine according to claim 2, characterized in that: The grabbing plate 2 is installed on one end of the electric telescopic rod of the robot arm 2, and the mechanical claw is installed on one end of the electric telescopic rod of the robot arm 3. The grabbing plate 2 includes a bonding plate that can generate negative pressure. The bonding plate is arranged in an arc shape. The upper and lower ends of the bonding plate are both equipped with pressing arms that can be raised and lowered. The mechanical claw has four movable claws.

4. The automatic assembly robot for heating components of a coffee machine according to claim 3, characterized in that: Four electric screwdrivers are arranged on the outer side of the electric telescopic rod 1 of one of the robotic arms 2, the outer side of the electric screwdriver is fixedly connected to the electric telescopic rod 2, the end of the electric telescopic rod 2 is fixedly connected to a filling table, a transmission tube for supplying screws to the filling table is installed on the outer side of the filling table, and an extension frame is fixedly connected to the outer side of the electric screwdriver and the electric telescopic rod 1.

5. The automatic assembly robot for heating components of a coffee machine according to claim 4, characterized in that: The negative pressure pump is fixed between the laminating plate and the electric telescopic rod 1, the negative pressure end of the negative pressure pump is communicated with the inner concave surface of the laminating plate, and a plurality of driving wheels are installed on the inner concave surface of the laminating plate.

6. The automatic assembly robot for heating components of a coffee machine according to claim 5, characterized in that: The adsorption head is arranged in an inverted cone shape, a camera and a vacuum pump are installed in the middle of the bottom end of the adsorption head, drainage valves are fixedly connected to the upper and lower ends of the half cylinder, and two expandable expansion arms are rotatably connected to the outer side of the adsorption head.

7. The automatic assembly robot for heating components of a coffee machine according to claim 6, characterized in that: The end of the pressing arm is arranged in a bent shape, and the ends of the conveyor belt 1 and the conveyor belt 2 are provided with baffles for blocking the electric heating pot parts.

8. The automatic assembly robot for heating components of a coffee machine according to claim 7, characterized in that: A support frame is fixedly connected above the middle of the conveyor belt 1, and two driving motors are fixedly connected to the middle of the support frame. The negative pressure suction cup is fixedly connected to the output end of the driving motor, and the negative pressure end of the negative pressure suction cup is vertically downward.

9. The automatic assembly robot for heating components of a coffee machine according to claim 8, characterized in that: A slide is fixedly connected to the upper middle part of the conveyor belt 1, the top surface of the slide is inclined, and the top surface of the slide is rotatably connected to a rotating plate close to the bottom.

10. The automatic assembly robot for heating components of a coffee machine according to claim 9, characterized in that: A push rod is fixedly connected to the middle of the support frame. The push rod is arranged in an arc shape and faces an end away from the slide table.

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